BR112019014757A2 - AUTOMATIC INSECT MANIPULATION AND CLASSIFICATION FOR GROWTH AND RELEASE - Google Patents

Abstract

apparatus for automatic loading of pupae in cartridges for growth, hatching in adults and dispersion of adults, comprising: a tray of pupae in liquid. a cartridge hatches pupae in adults and can be placed in a dispersing machine for dispersing adults. the cartridge has a drainage hole covered by a mesh at a lower end and, when filled with pupae and needing water, can be placed in a water tray to retain water in the cartridge. then, after pupae hatch, the cartridge is lifted from the water tray to drain through the drain hole to provide a dry environment for adults.

Description

Invention Patent Descriptive Report for: AUTOMATIC INSECT HANDLING AND CLASSIFICATION FOR GROWTH AND RELEASE

FIELD AND GROUNDS OF THE INVENTION [001] The present invention, in some embodiments thereof, relates to the automatic manipulation and classification of insects for growth and subsequent release and, more particularly, but not exclusively, for such manipulation that may be scalable for many millions of insects.

[002] The laboratories breed and develop mosquitoes with unique characteristics, such as sterility, or that their descendants do not transmit specific diseases, etc.

[003] For example, diseases, such as malaria and zika, are transmitted by female mosquitoes that bite humans and transfer the disease. One way to control mosquito populations involves sterile males. Female mosquitoes mate only once, and if they find a sterile male, they will not be able to reproduce. However, it is a challenge to produce and then introduce enough sterile males into the environment to be of significant importance in a total geographical area.

[004] Other diseases of humans, livestock and plants are spread by insect vectors, and the insects in question can be similarly targeted.

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2/88 [005] Today, there are breeding facilities where a large number of insects are bred per week for release into the environment. The insects are provided in a large number of release boxes and the process is very laborious.

[006] During the process of creating and preparing the release boxes, one of the especially laborious steps is filling the release boxes. Figs. 1 and 2 illustrate the manual filling of release boxes with insects. Today, the largest factories can, using manual manipulation, create between 300,000 and 800,000 insects a day, to produce between 300 and 800 release boxes of 1,000 insects each. However, controlling insect populations in large geographic areas requires

anything else next in 20,000 boxes a day, one number what would require strength in I work a lot big and time consuming. [007] Today no there is solution for The preparation automatic or semi-automatic in pasta of boxes in release. currently , automation stretches only at

phases of the mosquito's life cycle to the pupal stage and may include mechanical separation by sex of pupae for males and females, automatic feeding of larvae, etc. Mosquitoes, in particular, are delicate in their adult form and methods of manipulation need to be adapted to make up the particular insect.

[008] Mosquitoes have a lifestyle that begins

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3/88 like an egg. A larva is hatched that lives in the water and eventually hatchlings. The pupa shape lives in water, breathing air while on the surface, and can swim to some extent but does not eat. Eventually, an adult appears. The adult male has parts of the mouth that allow only the consumption of liquids. In the wild, they eat nectar from flowers and, in captive breeding programs, tend to receive sugar water.

SUMMARY OF THE INVENTION [009] The present embodiments refer to automating the manipulation of insects from the pupal stage until they are released as adults.

[0010] Automatic handling can include loading pupae into a tank or trays and then in cartridges, and the cartridges are placed in deposits. The cartridges are characterized by removable water and a net, so that the same cartridges can serve for the underwater pupa stage and the adult stage on dry land, and propeller-free pumps to move insects from, to, in and between the cartridges.

[0011] Automatic handling may additionally include an X-Y dispensing device that holds cartridges in rows within tanks and presents the tanks to an emptying machine or ejection unit. Thus, deposits are devices

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4/88 structured that keep the cartridges ready to be released. A structure in the cartridge can facilitate the robotic feeding of adult insects with sugar water and the like.

[0012] Suction can be used to insert or transfer insects to the appropriate cartridge or box (a).

[0013] The cartridge can be loaded with pupae that subsequently hatch into adults or, alternatively, the cartridge can be loaded with adults after hatching. Filling a cartridge with adult insects can involve sucking or blowing, and an air wall can be used in a mosquito cage, directing the wall to different parts of the cage, to propel the insects into a collecting tube. In addition, small boxes can be filled independently and then connected together to make larger cartridges. This is useful because small boxes are easier to fill, while larger cartridges are easier to handle subsequently.

[0014] Embodiments also include sucking insects while they are cold and inert.

[0015] In accordance with an aspect of some embodiments of the present invention, an apparatus is provided for automatic loading of pupae in cartridges for

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5/88 growth, hatching in adults and dispersion of adults, comprising:

a source of pupae in liquid;

a cartridge for hatching pupae in adults and placing in a dispersion machine for dispersing adults, the cartridge having at least one drainage hole covered in mesh at one bottom end; and a water tray; and where the cartridge is configured to withstand a liquid phase for pupae, where the cartridge, when filled with pupae, can be placed in the water tray to retain water in the cartridge, and where, after the pupae hatch, The cartridge can be drained through at least one drain hole to provide a dry environment for adults.

[0016] The embodiments may comprise a suction tube connected to the pupae source to suck pupae from the source to fill the cartridge, or a suction tube connected to a robot arm to direct the suction tube towards the pupae, or a spoon to catch the pupae from the pupae source.

[0017] One embodiment may comprise a measuring cup to collect the pupae from the suction tube and to fill a metered dose of the pupae in the cartridge.

[0018] In one embodiment, the measuring cup comprises a sensor to detect when the cup is

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6/88 full. The sensor can be, for example, a weight detector, a proximity detector, an ultrasonic sensor, a capacitive sensor or a camera, or any other sensor with the required sensitivity.

[0019] In one embodiment, the suction tube can be any of a pump without a propeller, a Venturi pump, a pipette and a piston, or any other type of transport device that does not damage the pupae.

[0020] In one embodiment, the cartridge comprises upper doors, the upper doors comprising a latch mechanism of the upper door for operation of the robot.

[0021] In one embodiment, the cartridge additionally comprises lower doors facing the upper doors, the lower doors comprising a latch mechanism of the lower door for operation of the robot.

[0022] In one embodiment, the cartridge comprises at least one feed hole, the feed hole containing a liquid-absorbing material to contain sugar water.

[0023] In one embodiment, the pupae source comprises the water that contains the pupae and an airflow mechanism configured to inflate through the water to concentrate the pupae for collection.

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7/88 [0024] In one embodiment, the pupae source comprises the water containing the pupae and a network configured to move through the water to concentrate the pupae on one side of the pupae source for collection.

[0025] Embodiments may comprise a cartridge expulsion mechanism, the cartridge expulsion mechanism comprising a funnel, an air pressure source and an outlet, the expulsion mechanism configured to open cartridge doors at two opposite ends and providing an air pressure wave to expel insects from the cartridge through the dispersion outlet.

[0026] Embodiments may comprise a plurality of cartridges placed together in a tank, and a pupal filling robot configured to direct the pupa from the pupal source to the successive cartridge cartridges, to fill all the cartridges in the tank with pupae .

[0027] Embodiments may comprise a closing robot configured with a door contact and a latch contact, to close and lock the upper cartridge doors after filling the tank.

[0028] Embodiments may comprise a feeding robot. The feed robot has a liquid dispenser to dispense sugar water to the cartridges so that the feed robot directs the feed dispenser.

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8/88 liquid for the feeding holes in successive cartridges of the tank to dispense sugar water for each cartridge.

[0029] One embodiment may comprise a deposit expulsion mechanism, the deposit expulsion mechanism comprising a funnel, an air pressure source and an outlet, the expulsion mechanism configured to open successive cartridge doors of the deposit in two opposite ends and provide an air pressure wave to expel insects from inside the cartridge through the dispersion outlet.

[0030] In one embodiment, the deposit ejection mechanism is slidably mounted for controllable displacement over a height of the deposit to reach the respective successive cartridges.

[0031] In one embodiment, the deposit expulsion mechanism is at a fixed height and the deposit is mounted for controllable displacement to present the respective cartridges of the successive cartridges to the deposit expulsion mechanism.

[0032] In one embodiment, the cartridge comprises a plurality of round cells.

[0033] The embodiments may comprise a suction tube, a sensor and a capture robot, the sensor configured to detect pupae or clusters of pupae in the

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9/88 pupal source, and the robot being configured to align the suction tube with the detected pupae or agglomerates, and the suction tube applying suction when aligned, so as to capture the pupae from the source to place in a respective cartridge.

[0034] According to a second aspect of the embodiments of the present invention, an apparatus is provided for removing adult insects or pupae from a source to be placed in a cartridge, the apparatus comprising:

a suction tube;

a pump without propeller associated with the suction tube to apply suction along the suction tube.

[0035] Embodiments may comprise a sensor to sense locations of insects or pupae, and a robot arm attached to a first end of the suction tube to direct the suction tube to the sensed locations.

[0036] In accordance with a third aspect of the present invention, an apparatus is provided for loading and then expelling insects, comprising:

a row of tanks extending on one axis, each tank comprising a plurality of cartridges stacked on top of each other on a second axis perpendicular to the first axis, the cartridges filled with insects;

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10/88 an expulsion unit, configured to expel insect cartridges from a deposit placed in the expulsion unit; and a transport unit configured to transport the deposits of the row on a third axis, the third axis being perpendicular to the first and second axes.

[0037] In one embodiment, the row is a plurality of rows, and the transport unit is a conveyor, each row having a respective conveyor, the apparatus further comprising a transfer unit configured to transport deposits between the rows and of one row further to the expulsion unit.

[0038] In one embodiment, the transfer unit is configured to move the deposits between the conveyors and the conveyors to the expulsion unit.

[0039] In one embodiment, the cartridges comprise upper and lower doors opposite the upper doors, the upper and lower doors being opened by the ejection mechanism.

[0040] In one embodiment, the expulsion mechanism is a deposit expulsion mechanism that comprises a funnel, an air pressure source and an outlet, the expulsion mechanism configured to open

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11/88 successive cartridge ports of the tank at two opposite ends and provide an air pressure wave to expel insects from inside the cartridge through the dispersion outlet.

[0041] In accordance with a fourth aspect of the present invention, an apparatus is provided for filling a cartridge with adult insects from an insect source, the apparatus comprising:

an air pressure source;

an aiming mechanism configured to aim the air pressure source at one or more adult insects; and a collection mechanism configured to collect insects that collide towards the collection mechanism by the air pressure source.

[0042] In one embodiment, the air pressure source is configured to provide a moving air blade.

[0043] In one embodiment, the pointing mechanism uses a camera to point an insect.

[0044] In one embodiment, the air pressure source is a suction source provided through the collection mechanism.

[0045] Embodiments may comprise a counting device for counting numbers of adult insects that pass through the collection device, to

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12/88 supply cartridges with a predetermined number of insects.

[0046] Embodiments may comprise a plurality of cartridges for collecting insects, and a steering arm configured to move one or both of the outlet end (s) of the collection device between the cartridges, and an input end of the device collection. The entry end can be moved to align with the insects currently being dropped from inside the cage.

[0047] According to a fifth aspect of the present invention, a cartridge is provided for holding adult insects, the cartridge comprising doors that can open at a first end and at a second end opposite the first end, and at least one opening feeding opening, a feeding opening containing a liquid-absorbing material kept within the feeding opening.

[0048] Embodiments may comprise a first layer of mesh within the layer of liquid absorbent material.

[0049] In one embodiment, the liquid absorbent layer is located between the first layer of mesh and another layer of mesh. The network can contain the layer.

[0050] According to a sixth aspect of this

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13/88 invention, an apparatus is provided for automatic loading of pupae in cartridges for growth, hatching in adults and dispersion of adults, comprising:

a source of pupae;

one or more cartridge (s) for hatching pupae in adults and placing in a dispersion machine for dispersing adults; and a collection mechanism for collecting pupae from a predetermined part of the source and dispensing the collected pupae to one or more cartridge (s); and a catching mechanism configured to catch pupae in the predetermined part for collection.

[0051] In one embodiment, the catching mechanism comprises a source of air pressure to inflate through the source of pupae to concentrate the pupae in the predetermined part for collection.

[0052] In one embodiment, the catching mechanism comprises a network configured to move through the source to concentrate the pupae in the predetermined part for collection.

[0053] In accordance with a seventh aspect of the present invention, an apparatus is provided for loading and then expelling insects, comprising:

a first row of deposits extending on an axis, each deposit comprising a plurality of

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14/88 cartridges stacked on top of each other on a second axis perpendicular to the first axis, the cartridges full of insects;

an expulsion unit, configured to expel insect cartridges from a deposit placed in the expulsion unit; and a first transport element, configured to transport the tank cartridges from the row to the expulsion unit.

[0054] In one embodiment, the transport element is a conveyor belt, the conveyor belt extending on a third axis, the third axis being perpendicular to the first and second axes.

[0055] The embodiments may comprise at least one additional row of deposits and an additional conveyor belt associated with at least one additional row, the conveyor belt configured to transport cartridges from at least one additional row to the first conveyor.

[0056] In accordance with an eighth aspect of the present invention, a method is provided for automatic loading of pupae in cartridges for growth, hatching in adults and dispersion of adults, comprising:

obtain pupae in the water;

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15/88 catch pupae to a predetermined catch location;

collect pupae from the catching location;

measure the pupae collected;

putting a measured number of pupae in water in a cartridge;

automatically feed insects using a robot arm to insert liquid feed into a liquid-absorbing substance into a feed hole in the cartridge;

wait until the pupae have hatched into adult insects;

drain the cartridge by lifting the cartridge and allowing it to drain through a drain hole; and opening the ends of the cartridge and applying an air pressure source to expel the adult insects from the cartridge.

[0057] The method may comprise the execution of drainage at a temperature below 10 degrees Celsius or below 9 degrees Celsius or below 6 degrees Celsius.

[0058] The method may additionally comprise:

providing the cartridges as a multi-cartridge tank and placing the tanks in one or more rows with an ejection unit;

transport the cartridges to the expulsion unit;

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16/88 open the cartridges at the first and second opposite ends; and

provide air pressure for expel adult insects the cartridges. [0059] In a way in realization, The feeding automatic [0060] is repeated by According least once. a ninth aspect of the invention, is

an apparatus is provided to fill a cartridge with adult insects from an insect source, the apparatus comprising:

an air pressure source, configured to knock down insects;

a collection mechanism configured to collect insects being dropped; and a robot arm configured to move the collection mechanism to catch the insects being dropped.

[0061] A tenth aspect of the present embodiments relates to placing cartridges directly on pupae trays and opening doors so that emerging insects are filled directly into the cartridges. In this regard, a method is provided for filling cartridges with adult insects, comprising:

provide pupae in water, typically in pupa trays;

close the first ends of the cartridges on the pupae;

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17/88

to allow that pupae emerge as adults we cartridges; close doors in the first extremities From cartridges; and to remove the cartridges with the adults ourselves.

[0062] Unless otherwise defined, all technical and / or scientific terms used herein have the same meaning as normally understood by a person skilled in the art to which the invention belongs. Although methods and materials similar or equivalent to those described herein can be used in practice or in testing embodiments of the invention, exemplary methods and / or materials are described below. In case of conflict, the patent specification, including definitions, will control. In addition, materials, methods and examples are illustrative only and are not intended to be limiting.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS [0063] Some embodiments of the invention are described here, by way of example only, with reference to the accompanying drawings. With specific reference now to the drawings in detail, it is noted that the details shown are by way of example and for purposes of illustrative discussion of embodiments of the invention. In this respect, the description made with the drawings makes

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18/88 it is evident to those skilled in the art how the embodiments of the invention can be practiced.

[0064] In the drawings:

Fig. 1 is a photograph showing the manual filling of cartridges as is commonly done today;

Fig. 2 is a top view, showing the manual filling of cartridges as is commonly done today;

Fig. 3 is a simplified flow chart showing a high level view of an automated insect breeding process in accordance with the present embodiments;

Fig. 4 is a simplified view of the process according to the present embodiments, from the pupal tray to the flow of filled cartridges;

Fig. 5 is a simplified diagram of a conveyor belt and robots for automatic filling of cartridges in deposits according to embodiments of the present invention;

Fig. 6 is a simplified diagram of a cartridge tank ready for filling on the conveyor belt of Fig. 5;

Fig. 7 is a view from below of the deposit of Fig. 6;

Fig. 8 is a view that looks into the deposit of Fig. 6;

Fig. 9 is a perspective view from the side of the

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19/88 deposit of Fig. 6;

Fig. 10 is a simplified view through the deposit of Fig. 6 with both the upper and lower doors open;

Fig. 11 is a simplified view through the deposit of Fig. 6 with upper doors open and lower doors closed;

Fig. 12 is a simplified view through the cartridge of Fig. 6, in which one of the cartridges has rounded cells;

Fig. 13 is a view of the conveyor of Fig. 5 from a different angle;

Fig. 14 is a view of a modification of the conveyor of Fig. 5, in which several filling stations are provided in parallel;

Fig. 15 is a view of pupae in small clusters;

Fig. 16 is a view of a large number of pupae all grouped together;

Fig. 17A is a simplified diagram illustrating three different embodiments in accordance with the present invention, for collecting pupae from a pupal tray and placing in the cartridges of a tank, and two different embodiments according to the present invention. , pupae trays that are capable of capturing pupae together at one end;

Fig. 17B is a side view illustrating the operation

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20/88 of a Venturi mechanism to collect insects;

Fig. 18 is a simplified diagram illustrating one of the embodiments of the pupa tray of Fig. 17A in

bigger Details; The Fig. 19 is a simplified diagram that illustrates the another embodiment of the pupal tray of Fig. 17A in: further details; The Fig. 20 is a simplified diagram that illustrates the measurement mosquitoes for collection using the form of carrying out Fig. 19; The Fig. 21 is a simplified diagram showing the

measuring cups and the robotic pupae collector water collector of the present embodiments;

Figs. 22A, 22B and 22C are three different embodiments according to the present invention of measuring cups showing three exemplary sensors to determine when the cups are full;

Fig. 23 is a side view of the robotic pupae collection system according to the present embodiments;

Fig. 24 is a view of a robotic system for inserting suction tubes in the pupal tray according to embodiments of the present invention;

Fig. 25 is a simplified diagram showing a parallel arrangement of robotically controlled spoons for

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21/88 collecting pupae from pupae trays and placing in successive cartridges in deposits, according to embodiments of the present invention;

Fig. 26 is a simplified diagram showing a door closing robot for closing cartridge doors in a magazine according to embodiments of the present invention;

Fig. 27 is a simplified diagram showing a feeding robot that supplies food to the cartridges in a tank according to embodiments of the present invention;

Fig. 28 is a simplified diagram showing tank cartridges with upper doors open and a latch arrangement;

Fig. 29A illustrates a conveyor and arrangement for removing trays of water after hatching of adult insects in accordance with an embodiment of the present invention;

Fig. 29B is a closer view of the part of Fig. 29A;

Fig. 29C is a closer view of another part of Fig. 29A; Fig. 30 is a simplified diagram illustrating a dispensing device with rows of mobile deposits for an ejection unit according to embodiments of the present invention;

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22/88 Fig. 31A is a simplified flow chart illustrating the use of GPS locations to control insect distribution using the distribution device of Fig. 30;

Fig. 31B is a simplified diagram illustrating the variation of the release rate using GPS reference points and ground trap data according to a preferred embodiment of the present invention;

Fig. 32 is a top view of the dispensing device of Fig. 30;

Fig. 33 is a perspective view from above of the dispensing device of Fig. 30;

Fig. 34 is a perspective view from the front of the dispensing device of Fig. 30;

Fig. 35 is a front view showing the interior of the dispensing device of Fig. 30;

Fig. 36 is an enlarged view of the rear of the delivery unit of the dispensing device of Fig. 30;

Fig. 37 is a simplified diagram showing longitudinal views of cartridges according to the present embodiments, with the upper doors open and with the upper and lower doors open;

Fig. 38 is a view from the front of the delivery unit of the dispensing device of Fig. 30;

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23/88 Fig. 39 is a simplified diagram of a variation of the device of Fig. 30, in which the deposits are retained in their original positions, but individual cartridges are transported to the expulsion unit;

Fig. 40 is a variation of the device of Fig. 30 for a cartridge containing cells;

Fig. 41 is a top view of the delivery unit of the dispensing device of Fig. 30;

Fig. 42 is a simplified diagram illustrating a deposit latch arrangement in accordance with embodiments of the present invention;

Fig. 43 is a simplified diagram illustrating an embodiment according to the present invention for collecting adult insects in cartridges in the emergence of pupal status;

Fig. 44 is a simplified diagram illustrating an embodiment according to the present invention for collecting adult insects from a cage or walls, possibly inner or side walls of a cage;

Fig. 45 is a simplified diagram illustrating a second embodiment according to the present invention for collecting adult insects in cartridges in the emergence of pupal status;

Fig. 46 is a simplified diagram illustrating an alternative embodiment, in accordance with the present

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24/88 invention, an insufflation mechanism to transfer adult mosquitoes to release cartridges;

Fig. 47 is a simplified view in more detail of the cartridges of Fig. 46;

Fig. 48 is a simplified view of the insufflation unit of Fig. 46 with a sensor for counting mosquitoes being transferred;

Fig. 49 is a simplified view of a modified production line for transferring and feeding adult mosquitoes according to embodiments of the present invention;

Figs. 50 to 58 are different views of a belt feeding system of the present embodiments based on cartridges and an insufflator to distribute the insects;

Figs. 59 to 63 are different views of the belt feeding system of Figs. 50 to 58 mounted on vehicles;

Figs. 64 and 65 are different views of an embodiment of the present invention in which the cartridges are stationary and the ejection unit moves on tracks between the cartridges;

Figs. 66 to 69 are different views of an ejection unit that can move in an alternating motion; and Figs. 70 to 73 are four bank views

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25/88 cartridges that are located directly on pupa plates to allow adults to emerge directly into the cartridges according to embodiments of the present invention.

DESCRIPTION OF SPECIFIC EMBODIMENTS OF THE INVENTION [0065] The present invention, in some embodiments thereof, relates to the automatic manipulation and classification of insects for growth and subsequent release and, more particularly, but not exclusively, for this purpose manipulation that can be scalable for many millions of insects.

[0066] There are many articles and protocols that address the mass production of mosquitoes for SIT (sterile insect technique) projects. However, none of them addresses any link or interface between the mass creation factory and field operations, and in addition, none addresses the automated processing and preparation of the release boxes. Instead, the articles usually address different diets, machines for automatic feeding of larva trays, sex separation, mainly during the larva or pupa stage, mainly using mechanical or biological technologies, but also including the use of automated vision.

[0067] The present embodiments can

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26/88 integrate methods and systems from the point where mosquitoes are all eggs, either hatching or hatching as pupae, to the dispersion stage as adults, in a single automated process.

[0068] The present embodiments can provide a production line whose output is hundreds of cartridges filled with male mosquitoes, ready to be released in suitable release devices.

[0069] The present embodiments can additionally include several suitable release devices.

[0070] Thus, the embodiments can provide a semi-automatic breeding facility that consists of a production line that begins with the hatching of pupae and produces release cartridges loaded with adult insects.

[0071] Other embodiments can be fully automatic.

[0072] The production line can be integrated with a release system that uses suitable release cartridges, the production line filling the release cartridges suitable for the specific release system.

[0073] The current technique uses measuring cups in order to measure the number of pupae per box, and one way of feeding is to place cotton balls with sugar water inside or above each box.

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27/88 [0074] When a human manually collects pupae from a water tank, even though the pupae are scattered in the water tank, he is still able to collect the pupae.

[0075] A robotic element can be provided that sucks the water together with the pupae. However, such a solution is problematic, as the suction has to work in such a way that it is directed at the pupae and does not damage them or otherwise the suction unit can suck only water while the pupae are concentrated in another location, and the automatic process can therefore take a long time, instead of optimizing the process.

[0076] Furthermore, the present embodiments aim, not only to automatically fill release boxes separate from each other, but to automatically fill a large number of release boxes that are connected to each other as part of an integrated delivery system. Big scale. The present embodiments face problems such as automatically opening a cartridge, deciding when the cartridge is full, closing the cartridge and moving on to the next cartridge.

[0077] In addition, for successful operation on a large scale, the feeding of the pupae needs to be automated, and the present embodiments can provide a robotic feeding device. In addition, the tank containing the cartridges is provided with a

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28/88 power housing.

[0078] The deposit may also include elements that facilitate the automatic removal of water that is necessary during the pupal stage, but is no longer needed after the mosquitoes hatch.

[0079] A release mechanism is provided in which deposits can be loaded for release.

[0080] The entrance to the breeding facility of the present embodiments can be eggs or larvae or insect pupae, such as mosquito eggs or mosquito larvae or mosquito pupae, and there is an automatic preparation of the release cartridges. The output of the production line in the installation of the present embodiments is a deposit of cartridges, with a counted number of mosquitoes per cartridge. Depending on the embodiment used, the count can be accurate to about ten percent.

[0081] Before explaining at least one embodiment of the invention in detail, it should be understood that the invention is not necessarily limited in its application to the details of construction and the arrangement of the components and / or methods presented in the description below and / or illustrated in the drawings and / or the Examples. The invention is capable of other embodiments or of being practiced or carried out in various ways.

[0082] Referring now to the drawings, Fig. 3 is

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29/88 a simplified flow chart illustrating a high-level view of the filling process.

[0083] 10 insects are created from the egg stage to the pupal stage. At this point, pupae are in the water, typically in breeding tanks or trays. Pupae can be mixed males and females, only males or females, and the distribution plan may require mixed insects, only males or females. Thus, if pupae or fully grown insects are not properly classified for release - box 12, then they need to be classified using appropriate methods that exist in the box technique. 14.

[0084] Once the insects are classified, then some adult insects or pupae or other insect related material are then moved to a breeding cage 16, or directly into cartridges 18. Cartridges can be arranged in deposits 20 and provided for release 22.

[0085] The deposit can maximize the use of space by providing at least two columns of cartridges and each cartridge can be obtained and released independently. More than two columns can be provided according to a suitable outline.

[0086] Optionally, box 20 can be omitted and the cartridges can be provided as individual units in

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30/88 instead of in a deposit, say for cases where only a small area is intended to be covered, or where the distribution vehicle is unable to take a complete deposit.

[0087] The cartridges can be filled with pupae, which are left to allow the pupae to hatch, followed by the release of adult insects. In an alternative embodiment, adult mosquitoes are transferred to the cartridges. Transfer can occur directly after adults emerge from the pupal stage and start flying, or adults can be actively

caught during the process in emergency and before in start Flying. [0088] Yeah now done reference to Fig. 4, that is a flowchart process in filling high level of

present embodiments. Trays full of pupae 30 are provided to the automatic production line process 32, which produces frames or tanks containing a large number of cartridges 34. Alternatively, the cartridges are provided as individual units, 36.

[0089] Reference is now made to Fig. 5, which a simplified diagram illustrating an embodiment of the production line of Figs. 3 and 4, in which the cartridges are full of pupae.

[0090] Pupae are provided in tanks and a tank or tray 38 is provided (a) along a deposit 39 of

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31/88 multiple cartridges 40. The filling robot 41 fills each cartridge with a measured amount of pupae, as will be explained in more detail below. Closing robot 42 then closes the cartridges. It is possible to have a self-closing mechanism, say a meat-based mechanism that closes all cartridges in a deposit after passing through a certain point. As illustrated, however, an external robot does the closing and this has two main advantages. First, the frame or tank has fewer mechanical components and, second, the robot can be programmed, if necessary, to vary the parameters of the closing operation, say, to close later or further down the line or more quickly or more slowly.

[0091] The feeding robot 44 then feeds the cartridges into the tank, as will be explained in more detail below and the tanks are moved to storage locations 46.

[0092] Reference is now made to Figs. 6 and 7, which show in greater detail the deposit of Fig. 5. Fig. 6 is a perspective view from the top side and Fig. 7 is a perspective view from the bottom side.

[0093] The deposit 50 comprises a frame which holds together a series of cartridges 52. Therefore, the deposit is also referred to as a frame. In embodiments,

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32/88 the sizes of the cartridges can be changed to allow changes in the number of pupae and adults for each cartridge, thus allowing a change in the release density in the soil.

[0094] Each cartridge 52 has a pair of upper doors or latches 54, 56, which are initially kept open. As will be discussed in detail below, an alternative is a normally closed design, in which the mechanism can actively open the doors. Each door can have an opening covered by the network 57 to allow feeding, as will be explained in more detail below. The cartridges include latches 59 to lock ports 54 and 56, and the central frame 58 in the deposit through the cartridges includes a mechanism for providing latch deposit level control, as will be explained in more detail below.

[0095] At the bottom of tank 50, the cartridges have drainage holes 60. The drainage holes allow the cartridge to be filled with water when the insects are in the pupa stage, and to be drained when the adult stage is reached. An inclination inside the cartridge can be provided to facilitate the drainage of water into the holes. The holes can be located in an area, as shown in the drawing, or in some corners, or even spread across the floor.

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33/88 [0096] Reference is now made to Fig. 8, which shows several cartridges in an upper frame. Ports 54 (not shown) and 56 are open, and drain holes 60 are visible on the floor of cartridge 52. Latches 62 extend from each cartridge to be engaged by central frame 58.

[0097] Fig. 9 is a perspective view from the bottom side of the deposit 50. The upper doors 54 and 56 are open and the floor 64, also made of double doors or latches, is closed and locked at the bottom. of the central structure 58.

[0098] Fig. 10 is a top view, showing the floor 64 open as lower doors on both sides of each cartridge 52. When fully open, the cartridges allow air to flow from side to side. The doors are opened by the latches 62 being placed in a release position.

[0099] Reference is now made to Fig. 11, which is a simplified diagram showing a plan view of deposit 50. Parts that are the same as in the previous figures are given the same reference numbers and are not described again except as necessary for an understanding of the present figure. The floor 64 is closed on each cartridge 52, and the door locking apparatus comprises latches 62 which extend to both sides

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34/88 of the central structure 58 to lock the doors 54 and 56 on both sides. It will be appreciated that the structure shown can be varied to provide only one column within the cartridges or more than two columns. The drainage holes 60 may consist of a mesh, with holes that are smaller than the size of the insects. Mosquitoes can tend to cling to the holes and, thus, numerous holes can be provided on the outer walls and floor of the cartridge, to avoid excessive concentration of mosquitoes.

[00100] Reference is now made to Fig. 12, which illustrates a cartridge with internal cells. The parts that are the same as in the previous figures are given the same reference numbers and are not described again, except as necessary for an understanding of the present figure. The cartridge 70 is seen from above in a tank with other cartridges and contains four circular tubes 72. The smoothly rounded cell structure serves to protect mosquitoes from the elements inside the cartridge that mosquitoes can find to grasp and can also ensure a flow of smoother air when connected to a funnel.

[00101] Reference is now made to Fig. 13, which shows several deposits 50 on a transport element. The transport element can typically be a conveyor belt 80. The deposits are undergoing a filling process. Pupae tray 82, which contains

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35/88 the pupae, is located opposite the conveyor belt 80 which contains a first tank 50 which is located under the filling robot 84 and whose upper doors 54 and 56 are all open. The filling robot 84 extracts a fixed number of pupae from the pupae tray 82 and fills each cartridge, in turn, moving between known coordinates. The robot's movement can be calibrated depending on the number of cartridges per tank. The details of the filling process will be explained in more detail below.

[00102] The pupae need to be in the water, so each tank is placed in an 86 water tray. The 60 drain holes provided in each cartridge ensure that the water in the water tray easily fills the cartridges. In order to drain the cartridges, everything necessary to lift the tank from the water tray, so that air enters from above and water drains down. In addition, a nozzle can be provided to fill the cartridge properly with water.

[00103] The closing robot 88 closes the cartridge doors when the tank passes the position of the closing robot. The feeding robot 90 provides food for each cartridge, as will be explained in more detail below.

[00104] Reference is now made to Fig. 14, which

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36/88 illustrates a possible embodiment of an enlarged scale modification for the conveyor belt 80 of Fig. 13. The parts that are the same as in the previous figures are given the same reference numbers and are only described again as necessary for an understanding of the present embodiment. In Fig. 14, five filling robots 100 are provided, which cause a separate tank 50 to fill in parallel, thereby accelerating the filling operation five times. Each tank to be filled has a separate pupal tray 102, although alternatively, a single larger pupal tray can be provided. The embodiment is not limited to number five, but any number of filling robots can fill the deposits in parallel in a pupae filling station of a desired capacity.

[00105] After filling, the whole set can move on to the next station. The filling operation is a rate limiting step, while closing and feeding can be performed more quickly, so there is less need to provide parallel processing in the last stations, but such parallel processing for closing and feeding can be provided, if wanted.

[00106] An advantage of having robotic operation is the ability to scale and, as shown in Fig. 14, the

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37/88 filling station can be equipped with additional capacity to be able to work in parallel in many pupae tanks.

[00107] Once all deposits at the station are full, carrier 80 can move the entire set of deposits to the next station. There is a window of hours to days during which the transition from pupa to adult can occur, depending on the stage at which the pupae were collected, so there is little concern that mosquitoes will begin to emerge while the locks are still open.

[00108] An alternative configuration for parallel processing is one in which several conveyors are provided in parallel.

[00109] The process of filling cartridges using robotics is now explained in more detail. Referring now to Fig. 15, a distribution of pupae on the water surface is shown that is typical of pupae being poured into a container. The distribution is agglomerated. To uniformly catch pupae by a robot, a uniform distribution on the water surface is preferred, as shown in Fig. 16. However, a highly dense and uniform distribution can lead to the suffocation of the pupae, since they are very close or accumulate due to lack of space, so that a uniform distribution is

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38/88 preference, obtained only for a short period during the filling process itself.

[00110] It is now done reference to Fig . 17A, which is a diagram simplified what illustrates two alternatives many different to provide an distribution uniform and concentrated pupae in Final the tray pupae where

are being picked up to fill the cartridges for a short duration. In one option, the air nozzles 110 are provided in the pupal tray 112 and the air is gently blown through the nozzles to propel the water with the pupae towards the end with the robot arm. This means that a stream of air generates a stream of water that gently conducts pupae to one end of the tray where they are collected. A second line and additional lines of nozzles are suggested so that gentle inflation is all that is needed to move the given pupal density. In the pupa tray 114, a net 116 is provided between the rails 118. The net 116 moves slowly along the tray 114 and picks the pupae together for collection. As each removal operation takes place, the net advances further to fill the vacant space with pupae until all pupae are caught. The pupae are caught by suction tubes 120 that fill the measuring cups 122. The measuring cups 122 detect when they are full, as will be discussed below, and the suction for

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39/88 while measuring cups are emptied into the current cartridge. Then, suction continues and the next cartridge is filled.

[00111] According to a third embodiment, robot 124 maintains the ends of the suction tubes and moves the suction tubes 126 to the next available pupae tray or pupal concentration region in the tray, for example guided by the chamber that identifies the concatenation.

[00112] Reference is now made to Fig. 17B, which is a simplified diagram that illustrates a Venturi mechanism that can be used to collect insects. Tube 120 comprises a suction inlet 127 into which insects are aspirated. The suction is due to the Bernoulli principle. Air inlet 128 takes air at a relatively high speed that exits at outlet 129 causing suction at suction inlet 127. Insects are aspirated and expelled at outlet 129. Air speed can be controlled in view of the type of insect. Mosquitoes are relatively delicate in

Comparation with others types of insects, mode what speeds mosquitoes. lower can be selected for the [00113] Reference is now made to Fig. 18, what is one

simplified diagram that illustrates pupa tray 112 in greater detail. The tray may have one end of

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40/88 triangular shape 130 on the side that engages the filling robot. The triangular shape can help to focus the pupils inflated forward from the widest part of tray 132 to the catch area. The propulsion units 134 can blow air over the water to create a smooth current towards the triangular end 130. If the tray is too large for a single line of propulsion units, then a second line and subsequent lines can be added as needed .

[00114] Reference is now made to Fig. 19, which is a simplified diagram that illustrates tray 114 in greater detail. Tray 114 has an optional triangular head end 140 for engaging the filling robot. A net 142 advances over the rails 144 and pushes the pupae to the end of the head 140. Water passes through the net, but the pupae are too large to pass through the net, so the pupae are swept through the net for concentration at the end from the head.

[00115] The collection process is designed to provide a specific number of pupae for each filling operation. So, in one example, each cartridge can take a thousand pupae. The idea is that each time the network moves, it displaces a thousand pupae. When every thousand pupae are picked up and removed from the tray, the net changes again.

[00116] Reference is now made to Fig. 20, which

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41/88 illustrates the network operation schematically. Given the size of the pupae tray 150, which is seen from above, a distance of k meters is calculated which maintains the required number of pupae over a width w. The network 152 can be controlled to move the distance of K meters, in which the area K-m * W, indicated by reference number 154, accommodates the necessary number of pupae.

[00117] When the pupae of the mosquito are under stress, they dive into the water and resurface. Thus, the network propagation process can be particularly slow, in order to minimize any harmful effects on pupae.

[00118] After the required number of pupae is collected, as discussed in more detail below, then the net can propagate again for the same distance to close the interstice that was created after the current pupal removal operation from the current pupae tray .

[00119] Reference is now made to Fig. 21, which is a simplified diagram that illustrates how the cartridges are filled with pre-established numbers of pupae. Tubes 160 suck pupae from the pupae tray.

[00120] A pump without a propeller is preferably used to suck through tubes 160 so that the pupae being transferred are not harmed. There are different shelf water pumps that do not

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42/88 use propellers. One example uses a Venturi pump. Another example is a pipette, and an additional example is a piston. By applying a source of air pressure to the inlet in the tubes 160, or in the air chamber of the pipette, the flow is controlled and the water, together with the pupae, is sucked and poured into a 162 measuring cup. The measuring cup it is held at the ends 168 of the robot arm 170. The plunger and pipette also have a chamber that is filled and emptied to suck the contents of the source and inflate the contents into the measuring cup or directly into the cartridge, depending on the form of realization.

[00121] The measuring cup has an opening at the top and bottom. The opening at the bottom is very small, allowing water to drain from the cup, leaving only pupa inside the cup 162. A collecting trough 164 collects the drain water and returns it to the tray. A sensor 166 identifying the retained volume is connected to the control unit. Such a sensor can be a capacitive sensor that is mounted at a height that represents the required number of mosquitoes (for example, 1,000 per cartridge). The height can be adjusted. This sensing can occur at discrete moments, when there is no suction or fall of insects that can interfere with the sensing process. A camera sensor rail, however, can allow for continuous measurement.

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43/88 [00122] Reference is now made to Figs. 22A - 22C, which are three simplified diagrams showing three different embodiments of a measuring cup, with different detection mechanisms. Fig. 22A shows a measuring cup 170 with a weight sensor 172 and a spring 174. Note that the weight sensor may also be located under the cup. The number of pupae is estimated based on weight. Fig. 22B shows the measuring cup 176 with an ultrasonic sensor 178. The ultrasonic sensor measures the distance 180 from the sensor to the nearest pupae, the distance of which provides an estimate of the number of pupae in the measuring cup. When pupae reach fill line 179, the sensor can indicate that the target has been reached. Fig. 22C shows a capacitive sensor, or a camera in a position indicated by numeral 182, looking through fill line 184 in cup 186. Fill line 184 indicates that the required number of pupae is in measuring cup 186, and the CCD camera or capacitive sensor detects pupae by filling the glass and reaching the line.

[00123] In order not to interfere with the measurements, the filling process can stop every few seconds to allow a measurement to be taken to decide if the glass is full. If the cup is full, the cup empties into the current cartridge and the process is repeated for the next cartridge. If the cup is not full, the filling

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44/88 continues, as more pupae are needed. In an alternative embodiment, the filling action is continuous and the measurement is made during filling.

[00124] A control unit controls the robot arm according to the sensor outputs to continue to pour the pupae into the cup, or to stop as long as the required number of pupae has been reached and empty the cup into the current cartridge.

[00125] As soon as the cup is full, the robot arm 170 can move the cup above the current cartridge, or cell inside the cartridge if the cartridge is of the type divided into cells, turn the cup and make the pupae pour into the cartridge or the cell.

[00126] Robots with manipulator arms are ready-to-use components. The deposit is made in well-defined coordinates for filling, so that the necessary coordinates can be sent to the robot arm that calculates the path, using for example the reverse kinematics, which the arm can take to place the cup above the correct cartridge or cell. This means that the measuring cup is placed above the center of each cartridge or cell.

[00127] In one embodiment, the robot arm may collide with a flange during the rotation of the pouring cup, in order to create an impact that ensures that all

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45/88 pupae are more easily emptied from the cup. In an additional embodiment, a nozzle can be placed above the cup, which can spray water directly above the opposite cup, thereby helping the pupa to fall into the cartridge.

[00128] In Fig. 21, two measuring cups and two tubes are shown. The two glasses and two tubes help the process to be faster, but they are not essential. You can have a single suction unit, tube and cup, and the cup may be able to move on the x and y axes to fill all cells and all cartridges.

[00129] Reference is now made to Fig. 23, which is a side view of the filling mechanism for filling the cartridges with pupae from the pupae tray. The tubes 190 engage the pupal tray 192 below, and the pupae and water flow to the tubes 190 and are suctioned to the top of the tubes and then to the measuring cups 194. Water drains from the bottom of the measuring cups to trough 196 and then back to the pupal tray 192. The trough can be tilted to pour water back into the pupal tray away from where the pupae are being picked up. When cups 194 are full, they are taken by robot arm 198 to fill the current cartridge from cartridges 200 in tank 202. In embodiments, water from the trough can be removed as waste, in which case fresh water may be required to pupae tray.

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46/88 [00130] Reference is now made to Fig. 24, which illustrates an additional embodiment of a filling mechanism. In Fig. 24, an arm of the robot 210 moves the suction tube 212 over the water surface in the pupal tray 214 according to the orientation of the chamber 216 to capture individual pupae or concentrations of pupae that are detected on the surface.

[00131] The embodiment of Fig. 24 solves a problem in which the pupa can be spread over the surface of the water. Blind suction based on clustering of pupae as in previous embodiments can be slow, so waiting until the suction unit has sucked all pupae can take some time. In contrast, the present embodiment using a vision-based system to identify black spots and black spot concentrations on the water surface, identify the X-Y location with reference to the X-

Fixed Y of the water tank, and then send the X-

Y for the robot arm. The coordinates can be translated to XY in the robot arm coordinate system and then the robot arm can perform a trajectory calculation and calculate how to move its joints, usually using reverse kinematics, to bring the end of the suction tube to the correct XYZ location. The selected location is on the surface of the

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47/88 water, but the embodiments can provide suction a few centimeters below the surface of the water. The robot arm 210 and can retain the tube and the associated pump. The arm can move freely over the pupal tray surface as directed by the vision system.

[00132] Reference is now made to Fig. 25, which illustrates an additional embodiment for filling the pupa trays cartridges. In Fig. 25, a filling robot arm 220 holds a longitudinally extended spoon 222, the surface area of which is selected to transport the right number of pupae. Spoon 222 rotates on an axis from where it is held by the robot arm and the rotation is activated. The spoon is lowered into the water of the pupal tray 224, and is typically tipped over before entering the water, in order to prevent the pupae from being crushed with the wide area of the cup surface. Once in the water, the glass is turned over again and lifted slowly. The spoon is filled with the required number of pupae, based on its surface area and the robot's arm then places the spoon on the next cartridge to empty. Thus, the spoon serves, in fact, as a collection cup and a measuring cup, the measurement based on the surface area of the cup being a good guide, although not exact, for the number of pupae collected in the spoon.

[00133] Reference is now made to Fig. 26, which

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48/88 illustrates a structure for the closing robot, the robot arm that closes the upper cartridge doors in the tank after filling. The closing robot 230 comprises a column 232 from which a horizontal beam 234 extends. From the beam 234 two frames 236 and 238 are suspended. The beam 234 moves up and down through the rail 240 in the column 232, as shown by the arrow 241. As the beam moves downwards, the frames 236 and 238 engage the cartridge doors 242 in the deposit 244 and push the doors down and inward until the doors push against the central frame 246 and are closed with a latch. The tank is in the water tray 248.

[00134] As an alternative, a closing mechanism can be included in the cartridges themselves. Thus, the doors can be connected to driven hinges, or to hinges operated by a meat system. The robot, however, allows the cartridges to be built more simply.

[00135] Thus, the closing robot 230 comprises a robot arm capable of moving in the Z 241 direction, which is up and down, and has frames 236 and 238 that can bend inwards. Frames 236 and 238 are initially open when the tank enters the closed position below the robot. The frames that are

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49/88 being opened allow movement below them. When the tank reaches the closed position, the tank can be detected by a sensor located on the station. The sensor for the carrier when detecting a deposit in position and the frames fold to close the doors.

[00136] The frames, while already closing the doors, go down along the Z axis to propel and lock the doors.

[00137] The embodiment of Fig. 26 is based on the closing of cartridges that are normally open. The cartridges can normally be opened due to a spring that opens the doors for example. An advantage of a normally open state is that, during the filling process, all cartridges are ready in the open position. It is possible to use normally closed cartridges and then, during the filling process, an external element can actively open the cartridges being loaded. Once the outer element moves away, the cartridge returns to its natural closed position, and there is no need for another robotic station just to close the cartridges.

[00138] Reference is now made to Fig. 27, which illustrates in greater detail the process of feeding mosquitoes in the cartridges. In the current technique,

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50/88 when workers load the release boxes with pupa, food is placed above each release box, typically a cotton ball soaked in sugar water is placed on top of each box.

[00139] In the present embodiments, the robotic feeder 2 60 has an arm 2 62 that is capable of moving over each of the cartridges 264 in the tank 266 that is currently in the feeding station, and spraying a liquid containing the sugar water using a liquid sprayer or dispensing accessory 268 kept on the arm. The liquid sprayer is inserted into the absorbent material in the cartridge feed holes, as will be described in more detail below. The deposit is typically still in the water tray 270. Such a feeding process can be repeated later, preferably at regular intervals, to keep the adults fed until disposal, as will be mentioned again below.

[00140] Reference is now made to Fig. 28, which is a simplified diagram showing the upper closures 280 of cartridges 282. The doors or closures 280 are in the open position for illustrative purposes, but it is appreciated that when mosquitoes are fed the doors are usually closed. The doors have openings 284, as has been discussed in relation to the breathing holes, and the holes are covered with 286 internal and 288 external networks. At

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51/88 nets may involve a layer of liquid absorber to absorb and retain water with sugar sprayed on it from the outside, so that mosquitoes can eat inside. This means that the cartridge closures 280 comprise a mesh sandwich, followed by an absorbent layer of food, followed by a second mesh layer. The internal net 284 may allow insects to cling and access food, but it does not allow them to escape. The layer can be a synthetic absorbent material that can be poured with sugar water as food. The entire sandwich element can be removed for cleaning or replacement with a new absorbent element as needed.

[00141] It is also possible to have only one mesh or even zero mesh, in which case the absorbent layer can be affixed to the single mesh and the cartridge, or simply directly to the cartridge.

[00142] Latch 290 is also shown in the open position and locking element 292, which allows door 280 to be closed by latch.

[00143] Automatic feeding is an optional step that increases the level of process automation. There are many types of liquid dispensing robot accessories that the skilled person can select. As with the other robots, once on site, the

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52/88 robot arm can be programmed to find the exact locations of the cartridges.

[00144] After feeding, the deposit can be taken to a storage location.

[00145] Once the cartridges are loaded and fresh food has been provided, they are moved to the initial storage positions during the pupae hatching process. The placement of deposits in initial storage can be manual or you can use a series of conveyors or robotic arms to navigate the deposits to suitable locations. Alternatively, robot arms can be used to place deposits in their storage positions. In any case, because the pupae have not completed hatching, trays of water are still necessary and any movement of the deposits must not disturb the water.

[00146] Reference is now made to Fig. 29A, which illustrates the removal of deposits from initial storage. After a certain period of time, pupae are expected to have hatched, and this typically occurs around 24 hours before the cartridges are released. Loaded deposits are retrieved from 300 of the initial storage areas, again manually or automatically, and automatic systems can include robots or conveyor systems. Sometime before the

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53/88 release, preferably 24 hours before, deposits are sent to location 302 on first conveyor 303, in which a robot arm 304 captures deposit 306 between two parts of the rotating frame 308, 310 and removes deposit 306 from water tray 312. More precisely, robot arm 304 lifts the tank from tray 312 and places the tank on the second conveyor 314. Alternatively, the water tray can then be removed and there is no need for an additional parallel conveyor.

[00147] As all pupae are now hatched, water is no longer needed and, as the tray is removed, all water in the cartridges is drained through drain holes, so as not to leave water residues inside the tank cartridges . When robot arm 304 raises tank 306, it can wait for a predefined time (for example, one minute) to allow all water to drain. If another degree of freedom is available for the robot arm, it can tilt the tank slowly to provide a tilt to intensify the water pouring effect through the drain holes in the bottom of the tank lock. The robot arm at location 202 is shown enlarged in Fig. 29B. The shoulder 315 in the cartridge 303 allows a firm fixation of the cartridge by the robot arm.

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54/88 [00148] A repeated feeding station 316, shown enlarged in Fig. 2 9C, comprising a feeding robot 318 can be provided. Generally mosquitoes can be fed every twelve hours or more. The details of the feeding robot are the same as the feeding robot of Fig. 27 and, therefore, are not repeated here.

[00149] The structure of the cartridge, including drainage holes covered with mesh, allows the cartridge to drain without mosquitoes being able to escape. In addition, the drainage process can be automated.

[00150] Since the tank 306 and the water trays 312 are separate, the trays can continue on the conveyor 303 to a cleaning station, which can be manipulated or robotic. Trays 312 are stored and can then be reused. Each tray 312 is filled with an empty tank filled with water, and the tank is filled with mosquito pupae.

[00151] The assembly of the empty tank on the empty tray can be manual, or it can be done using a robotic arm similar to the robotic arm 304, which uses two sources - a row of empty tanks and a row of trays, with or without Water. The robotic arm can lift the next empty tank and place it inside the next empty tank, sending the combination to the first step in the automatic filling process.

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55/88 [00152] Above, the pupae are placed in the cartridge that has drainage holes in the floor that are protected by nets. After emerging, water is drained from the cartridge through the nets. However, the cartridge retains the pupal shells. Thus, during release, which as described below may depend on the flow of air through the cartridge, the wrappers can interfere with the flow of air. In addition, adult mosquitoes can cling to any net and thus resist the release process.

[00153] Thus, a cartridge can be provided that has drainage holes that are not covered by the network. Since the cartridge is in the tray, a net is not necessary to prevent mosquitoes from escaping. The pupae are dumped and can be in different cells. When adults have emerged, the carrier or other means of transport can take the deposit to a sorting station. All the temperature can be low enough, in less than 10 degrees and in the order of 6-9 degrees Celsius, the exact temperature depending on the specific species, that none or few of the adults move. The cartridge is lifted from the tray so that water and all spoons and other remains remain in the water tray. Adult mosquitoes do not escape due to the low temperature. The cartridge is then placed in a closing tray whose only

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56/88 purpose is to close the hole or holes in the bottom. The closing tray can be mechanically attached to the cartridge.

[00154] Reference is now made to Fig. 30, which is a simplified diagram showing a release device 320 which is loaded with a series of boxed deposits 322 from the breeding factory. Eject station 324 opens one cartridge at a time in a given tank, or can open two or more cartridges in parallel, to expel mosquitoes in them, and when all cartridges are emptied from a given tank, the given tank is removed in the same way, the remaining tanks are moved upwards and a new tank is placed in position at the expulsion station 324. A cart 326, typically motorized and robotized, is used to move the release device 320.

[00155] In the present embodiment, the size of the tank is fixed to fit the production line and the ejection mechanism is fixed by the sizes of the cartridge and the tank. Thus, in order to release millions of mosquitoes, thousands of cartridges are required in the release device. A single two-dimensional X-Y frame is not sufficient for the number of cartridges needed. Thus, the cartridges also need to be placed in a depth dimension, and need proper handling to be provided to the

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57/88 expulsion.

[00156] Reference is now made to Fig. 31 A, which is a flowchart that illustrates how the GPS coordinates from a GPS device can be used to manage the distribution of insects from the release device. The release device is in a vehicle that is traveling at a finite speed. The method obtains the vehicle speed 340, the current GPS location 342 and the required insect density at the current location 344. Controller 346 can, in one embodiment, automatically fire insects while the vehicle is between a start point of the GPS and a GPS end point. During this time, the system can release a cartridge for each predetermined number of seconds using the trigger mechanism 348. The cartridges, tanks and tank frames are advanced 350 to continuously provide cartridges for release. A feedback loop can optionally be provided indicating actual release events for the controller.

[00157] If areas without clearance are required, the appropriate Departure and Arrival points can be defined and the clearance occurs only after a starting point before the first arrival point.

[00158] Unlike chemical release systems mounted on airplanes and connected to points of

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58/88 GPS reference, the machine and the release device of the present embodiments can release a full release cartridge or every variable number of seconds so that the release amount can be regulated. This contrasts with current chemical release systems that release chemicals continuously until they stop.

[00159] The duration between each consecutive release can be calibrated and depends on the required density of

released insects per meter square, and speed motion device). release (e.g. vehicle in [00160] By example, if the vehicle driving

at 18 km / h (5 meters / second), and assuming that the shot consumes fractions of a second, assuming that each cartridge contains 1,000 insects, the insects travel an average of 100 meters, so the system can be calibrated to fire one cartridge every 20 seconds. When a cartridge is released, 20 seconds later, the vehicle moved 100 meters at 5 m / s. To have coverage of 1,000 insects per ha (10,000 square meters), the next release position must be within a maximum distance of 100 meters, parallel to the current trigger point.

[00161] Reference is now made to Fig. 31B, where the GPS reference points that are provided are the

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59/88 actual release points, meaning that for each GPS reference point there is a release. The embodiment of Fig. 31B can be preferred if only a smaller number of release points are needed for a given area. A mix is also possible, meaning that a first GPS reference point of a series of reference points is the starting release point, and from that point the release takes place at each subsequent reference point in a set and

ends for that session at the last point of reference of that set of points in reference. The method can to allow optimize the use of resource valuable that is the mosquito A dot in reference of GPS Can be

correlated with soil traps, such as trap A and trap B. GPS reference points and the required release density can be correlated with a number of mosquitoes trapped in the corresponding trap. If, for example, at the GPS reference point there is a trap that catches a hundred wild mosquitoes, and at the most distant reference point, where the next trap is located at reference point B, 10 (ten) mosquitoes are caught, then the controller can release more mosquitoes closer to the GPS A reference point, and less mosquitoes during approach to reference point B. This release

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Controlled 60/88 can be achieved by increasing the number of cartridges being opened as the vehicle approaches reference point B along the way. A different rate may be in a different release amount for each release. A density required in the soil parameter can be a dynamic number calculated based on traps and an average factor to accommodate the number captured and the distance between the traps.

[00162] Reference is now made to Fig. 32, which illustrates the release device that carries the deposit of Fig. 30 in greater detail.

[00163] A 360 row of loaded tanks 362, each filled with cartridges, extends around the release device 364. The firing mechanism 366 releases all the cartridges one by one from the tank placed in the firing position on the 366 mechanism .

[00164] Although, as illustrated, the ejection unit can move up and down, an embodiment may have an ejection unit that is fixed and the tank moves up and down to align the different cartridges one by one with the expulsion unit.

[00165] Once all the cartridges in the current tank are empty, they are moved to join the back of the row, and the empty tanks eventually occupy all three walls of

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61/88 storage.

[00166] At the beginning all cartridges are full, and the first full tank enters the trigger mechanism and all tanks move forward in the direction of arrows 368 towards the trigger mechanism, leaving an empty space 370 adjacent to the firing station.

[00167] Once empty, the current deposit is moved to the empty space and the next deposit enters the trigger mechanism.

[00168] Fig. 33 is a perspective view from above of the device of Fig. 32. The device is on the robot cart 326.

[00169] Reference is now made to Fig. 34, which illustrates an additional embodiment of the release device. In Fig. 34, the supports 380, 382, 384 and 386 keep the deposits against displacement due to the movement of the vehicle. Transport elements, for example, conveyors, are equipped with lifting mechanisms, as is known in the conveyor belt technique, which transfer the deposits at the ninety degree turning points 388, 390 and 392. Thus, the lifting mechanism moves the deposits to the next carrier or trigger point 394, as appropriate. The outer part 385 and the inner part 387 of the expulsion mechanism 389 are located at the firing location to expel insects

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62/88 of the cartridges and are described in more detail below. The rails include a lifting mechanism, not shown, to lift the tanks for movement. For example, rails and a drive mechanism can lift deposits from one conveyor to the next. The straight parts of the rows may have conveyors, which are also not shown.

[00170] Reference is now made to Fig. 35, which is a simplified diagram showing the embodiment of Fig. 34 from the front looking inwards. In Fig. 35, rails 380, 382 and 384 are support rails, and a lifting mechanism (not shown) lifts the deposits at the ninety degree turning points 388, 390 and 392, and moves the deposits to the next part of the row or trip point 394, as appropriate. The straight parts of the rows can have conveyors, 396, 398 to move the deposits. A sensor 400 senses that a tank is in the correct location and stops movement. The sensor can be located in the deposits themselves, or in an external unit. Possible sensors include touch sensitive switches and microswitches, IR beams, suction beams, etc.

[00171] Above, the current tank is in the firing position and the release or eject mechanism moves up and down to open the cartridges and expel the

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63/88 insects from individual cartridges. In an alternative embodiment, instead of the firing unit traveling on the Z axis (and possibly the XY axis) to move between the cartridges, it is possible to have the firing unit fixed, and to make the entire structure move up and down, right and left, to locate a different cartridge each time in front of the firing unit. So, instead of moving the firing unit, the frame moves, but the basic principle is the same. The frame moves to the firing position and then moves up and down, say, using a robot arm.

[00172] Reference is now made to Fig. 36, which is a simplified diagram illustrating the triggering or expelling mechanism according to an embodiment of the present invention. In Fig. 36, the firing mechanism comprises an internal expulsion element 410, consisting of a funnel 412 and an insufflator 414 which inflates air through the funnel. The firing mechanism includes a frame that engages with latch openers 416 to release upper and lower cartridge doors 418. Upper cartridge doors 418 open out of the funnel, directing airflow during the opening process, so that the air flows evenly through the cartridge. The air in the air blower inflates through the cartridge to expel

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64/88 insects through the external expelling element 419, which is explained in more detail below. Once the insects are expelled, the expulsion unit is raised or lowered to reach the next cartridge. In general, the outer element 419 opens first element before the inner element, to avoid collisions between them.

[00173] Reference is now made to Fig. 37, which illustrates the two open positions of a cartridge. Cartridge 420 is open at the top and closed at the bottom, in a state that is useful for filling the cartridge with insects or pupae. Cartridge 422 is opened at the top and bottom, in a state that is suitable for expelling insects, for example, using the mechanism of Fig. 36. The cartridges have pairs of upper ports 424 and lower 426 that can be opened by the latches 428 and 430, respectively. The lifting points or the handle 432 allow lifting or picking up the cartridge by the various robots involved in the process.

[00174] Reference is now made to Fig. 38, which illustrates the outer element 419 of the expulsion mechanism of Fig. 36 in greater detail. For parts that are the same as in Fig. 36, the same reference numbers are given and are not described again, except when necessary for an understanding of the present figure. Hoppers 412 are mounted using support nuts 413 on rails 444 and 446 on a slide 440 that moves up and down

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65/88 on support column 442. Funnels 412 lead to expulsion tubes 448, through which insects are expelled.

[00175] The left and right rails can be controlled independently to provide two halves of expulsion mechanisms, to be used individually

or in parallel, so to regulate the exit at any time. [00176] The funnels reception 412 can move in towards the cartridge and its structure hitch on latch 416,

opening the cartridge doors as they arrive. The receiving hoppers can move back and forth along rails 444 and 446 against slide 440.

[00177] Reference is now made to Fig. 39, which is an embodiment in which deposits 450 do not move at all. Instead, the deposits 450 leave the cartridges 452, one by one, to the carrier 454. The cartridges are then individually provided to the expulsion unit 456, which functions in the same way as in the previous embodiments. More particularly, the first cartridge at the bottom of each tank 450 is expelled to the conveyor 454 and the remainder moves downwards. The carrier then moves the cartridges to the firing position that expels the insects from the cartridge after the cartridge, as before, and thus, instead of moving the ejection unit

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66/88 on the Z axis, the cartridge is moved to the firing mechanism that remains stationary.

[00178] Reference is now made to Fig. 40, which shows a side view of an external part of an expulsion mechanism for a cartridge, such as cartridge 460, the cartridge of which is divided into internal cells 462. They can be provided several tubes 464, which can connect opposite to an air blower inside - not shown - so that when funnels 4 66 are pushed to open the cartridge, there is a tube in front of each cell 462 of cartridge 460, to expel the insects. Alternatively, the funnels may be able to move from side to side, according to arrow 468, to align the expulsion tubes 464 with the cells.

[00179] Reference is now made to Fig. 41, which is a simplified diagram showing an embodiment 470 of the ejection mechanism viewed from a top perspective. The ejection mechanism 470 has an inner part 472 and an outer part 474. The inner part is mounted on rails 476 and 477, which run on slide 478 over column 480, and include air blowers 482 and funnels 484 that engage cartridges in the deposit 486.

[00180] The outer element 474 slides on the rails 488 and 489 on the slide 490 which in turn slides on the clamp column 492. The expulsion tubes 494

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67/88 receive insects expelled from funnels 496 which in turn receive insects from the current cartridge, which are insufflated by the air of the internal element 472.

[00181] Note that, in the embodiments, the left tracks 476, 488 and the right tracks 477, 489, can be moved independently, to provide two independent propulsion systems. The propulsion systems can be mounted on the respective rails using the 498 mounting brackets.

[00182] It is further noted that instead of an insufflator on the inner element, a suction unit can be provided on the outside, or a combination of the two can be used for additional dispersion power.

[00183] Reference is now made to Fig. 42, which is a simplified diagram showing an example locking mechanism provided in the deposits that control the opening of the cartridges. Only when the tank locking mechanism is released, can the individual locks on the cartridges be activated. The mechanism comprises a sliding element 500 and a locking latch 502. The sliding element comprises inserts 504 that engage the latches 506 of the cartridges when at one end of the sliding movement - indicated by the arrow 510, thus physically preventing the latches 506 from being released. At the other end of the sliding movement, the 504 inserts

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68/88 release latches 506 so that the cartridge can be opened, say, by the eject mechanism.

[00184] A slide limiter 508 retains the sliding mechanism within the limits of the tank.

[00185] In the previous embodiments, the cartridges were loaded with pupae that subsequently hatched into adults in the cartridge. Reference is now made to Figs. 43 and 44, which illustrate additional embodiments of the present invention, in which mosquitoes are loaded in cartridges when they are already in the adult state, or in the instar state.

[00186] The inverted funnel 520 is placed in the pupae tray 522 which holds the pupae. An insufflator 524 provides a flow of air from one end to supply air to the transport tube 526. The inverted funnel rests on tray 522 during the period when pupae are to hatch and mosquitoes slowly emerge in their instar form. The instars start to fly and are captured by the air stream and inflated through the transport tube 526 to the current cartridge.

[00187] At the far end of tube 526, a robot arm 528, or a simple X-Y gantry, positions the end of tube 530 over the current cartridge. When the current cartridge is filled, the end of the tube is then moved to the next cartridge in tank 532. A sensor

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69/88

534 along the tube can detect mosquitoes and provide a count to determine when each cartridge is full. The sensor may be a camera, such as a CCD-based camera, or it may be a capacitive bridge or any other suitable option known to the skilled person who is capable of providing a count of passing mosquitoes.

[00188] Once the end of tube 530 is positioned above the correct cartridge, a connection is made to the cartridge to operate the latches and the cartridge ports open if they are not already open. Thus, a direct flow of insects in the cartridge is activated. Once the tube 526 and the cartridge are connected, the insufflator 524 is turned on and begins to blow out emerging mosquitoes. Counter 534 counts the number of live mosquitoes that seep through the tube. When the required number is reached, the blower stops. The tube is disconnected from the cartridge, and the cartridge doors close to prevent adult mosquitoes from escaping. The tube is then connected to the next cartridge, the insufflator is switched on again and the process is repeated until all cartridges in tank 532 are full.

[00189] Counting the number of mosquitoes moving through the tube can be performed using one or more video cameras looking at tube 526 from various angles, the tube being transparent, at least where the count is performed.

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70/88 [00190] Another option to count is to have a capacitive sensor that surrounds the tube. The capacitive sensor can read any interference within the tube itself. Thus, if two insects pass at exactly the same time in the same position, they can be counted as one, although this is a very unlikely event. In order to decrease the chances of counting errors, an additional capacitive sensor can be placed in a different location on the tube, and the probability is reduced for insects that pass both sensors together.

[00191] Fig. 43 refers to the case where insects are captured during the hatching of pupae adults. Fig. 44 refers to the case where the contents of an adult mosquito cage need to be inserted into the cartridges. In this case, the adult insects are in a net and spend most of their time on the walls of the net 540. A funnel 542 is placed below the net and a moving air wall 544, referred to as a pneumatic blade or pneumatic knife, is directed over the net to collide with mosquitoes on the wall. Mosquitoes fall into funnel 542 and are directed to the receiving cartridge 546. A chamber or capacitive sensor can count the number of mosquitoes in the cartridge or other methods can be used to determine when the cartridge is full.

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71/88 [00192] In one embodiment, the funnel can be moved, say, by a robot arm, to different locations to catch insects that are dropped by the pneumatic blade.

[00193] Reference is now made to Fig. 45, which illustrates an additional embodiment for capturing insects after hatching to place in the cartridges. The pupae 550 below the water surface 552 hatch 554 in insects 556. The hatching process takes some time for the 558 camera sensor to observe the process. The chamber sensor is attached to a suction tube 560 which also includes a distance sensor 562 which measures the distance of the tube from the water surface. The tube is maintained from an x-y 564 gantry and is aligned above the emerging insect. The tube is then lowered to a predetermined distance and the suction is operated to pull the insect into the tube 560.

[00194] Reference is now made to Fig. 46, which illustrates another embodiment of an insufflation unit 600 that fits directly into a 602 mosquito cage. Food or other means are used in the insufflation unit to attract mosquitoes to up and then inflated into tube 604. Robot arm 606 retains the end of the robot arm and guides mosquitoes to the next cartridge available in the tank

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72/88

608.

[00195] Reference is now made to Fig. 47, which is a simplified diagram showing a 610 tank with modified 612 cartridges for injection of adult mosquitoes. For the present embodiment, in which adult mosquitoes are insufflated into the tanks through a tube, the tank 610 can have a different charge entry point and firing window. The charge inlet 614 can allow an external tube to open a door to fill the cartridge and then close the door by pulling out of the cartridge. The door is an element that prevents mosquitoes from flying, and also allows movement to fill cartridges. The door can be dense and flexible and the cartridge can be opened in its entirety to expel insects after release.

[00196] Reference is now made to Fig. 48, in which emerging mosquitoes are guided using airflow, and the number of mosquitoes can be counted using a 620 sensor, so that when a certain number of mosquitoes have already been guided on a specific cartridge, a robot arm will move the inflation tube to the next cartridge.

[00197] Specifically, when the desired number of mosquitoes has been provided to one of the cartridges, as identified by a controller connected to counter 620, the controller turns off the insufflator so that the supply of mosquitoes

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73/88 stop and, immediately afterwards, the robot arm can move upwards and extract the end of the tube from the current cartridge. The opening of the cartridge consequently closes, and the controller commands the robot arm to move the end of the tube to the next position of the cartridge, enter the tank and connect to the next cartridge. The controller can then send a command to the insufflator to start inflating the emerging mosquitoes again and the process is repeated until all the cartridges are fully loaded.

[00198] The count can use a capacitive sensor and commercially available sensors in the form of a hollow structure, allowing the identification of moving objects through the structure, even if the moving object is inside a tube.

[00199] As discussed in greater detail above, if two or more mosquitoes pass the sensor together, they can be mistakenly counted as one, so additional sensors can be used.

[00200] Reference is now made to Fig. 49, which illustrates a production line modified to work with adult insects. The automatic filling station 621 now consists of the insufflator 600 connected to the insect cage 602 for loading adults. There is no need for a tray loaded with water. The station

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74/88 feed 622 remains the same, having a robot arm 624 traveling transversely along tank 608 and dispensing liquid food for each cartridge. Since there is no tray with water, there is no need for a station in which the tank and the tray are separate.

[00201] Reference is now made to Fig. 50, which is a simplified schematic diagram that illustrates the chaining of cartridges or release boxes. As shown, cartridges 700 are connected together and attached by a chain or cable 702 to a wheel 704. The cartridges are fed from a first case 706 to a second case 708 through the release mechanism 710. The cartridges 700 , with mosquitoes charged, can be connected to each other using a chain, a cable or a chain-like structure, and the release boxes can be opened on both sides. The guide wall 712 can guide the empty cartridges to the second box. The optional pole 714 connects on the front of the cartridges to the current 702.

[00202] The opening of the individual release boxes as they reach the release mechanism can be as follows:

1. When the cartridge inlet port is close to the 710 expulsion or inflation mechanism, the inlet and outlet ports are opened. In one embodiment,

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75/88 the exit door can first be opened first, and then the entrance door, the entrance door being the door that is close to the air source;

2. the insufflator inflates air through the inlet;

3. mosquitoes are blown out of the exit door;

4. When the cartridge is removed from the ejection unit, the doors are automatically closed, so that any mosquitoes that have not been released cannot now escape the cartridge and, for example, be a nuisance inside the release vehicle containing hundreds of these cartridges.

[00203] As illustrated, the cartridges are connected together, forming a long chain of connected cartridges.

[00204] The system of figure 50 can comprise:

1. A set of release cartridges;

2. A delivery system - an expulsion unit that can use an insufflator;

3. An opening mechanism to open the cartridge doors in sync with the release system;

4. A propagation system to propagate the cartridges in the storage box 706 to the delivery system and to the box 708;

5. A chain system to push the cartridges

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76/88 empty.

[00205] The release process can be as follows:

1. The inlet and outlet ports can be opened together or one immediately after the other, with or without a direct connection between the two, being in close proximity to the external expulsion device 710, which can be, for example, an insufflator ;

2. The cartridges connected together and attached to a chain or cable etc;

3. A propagation mechanism propagates the cartridges, one by one, towards the release station, where the expelling element and the opening element are located. The opening element can be an active element, it is not part of the door, in this case, when sensing the door in front of it or in the vicinity of the ejection unit - actively drives an opening switch to open the door, or a passive element that when it is in front of the door, then an element in the door senses the proximity of the ejection unit and opens the door;

4. At expulsion station 710, the doors are opened as described above and, as below, airflow enters the insufflation unit and expels mosquitoes. The blowing speed can be around 10 m / s and less than 20 m / s, in order to blow all mosquitoes quickly,

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77/88 without harming them, and overcoming their efforts to cling to the walls of the cartridge, not being so slow;

5. The cartridge chain can be connected at the front to the chain system 702 and 704;

6. In the eject position, there may be an engine with an axle - a propagation system that pulls the next cartridge, and pushes the current cartridge forward. Optionally, it may be possible to determine whether the next cartridge is in position, without the need to sensing by means of a remote sensor;

7. The cartridge in the release position falls down under restriction of the guiding element 712 by gravity while it is still connected to the other cartridges;

8. The first cartridge in the whole set (preferably only the connector element without a cartridge, also as shown in the drawings) is connected to the chain system 702, 704 at the connector pole 714;

9. The chain system 702, 704 works in sync with the propagation system, that is, with the motorized shaft in the release position, as discussed in greater detail below. The chain system can pull the first connector in line, while the propagation system as a whole pulls the cartridges. The cartridges can be pushed forward, and the chain system 702, 704 can pull the empty cartridges and,

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78/88 slowly, cartridge after cartridge, the initially empty case 708 is filled and the initially full case 706 is emptied. Thus, box 708 is filled with empty cartridges, and chain 702 is now almost completely wound on wheel 7 04;

10. When the cartridges pass the expulsion unit 710, they are opened on both sides in sync with the expulsion mechanism, and the mosquitoes are blown out.

[00206] Reference is now made to Figs. 51A to 51D, which shows four details of the cartridges in the vicinity of the expulsion mechanism in subsequent cases over time. In figure 51A, the first 720 of the three cartridges 720, 722, 724, is in the eject position. In Fig. 51B, the second cartridge 722 has advanced. In Fig. 51C, the second cartridge 722 has further ahead and in Fig. 51D, the third cartridge 724 approaches the eject position.

[00207] The cartridge propagation system can comprise a turning axis with a motor (not shown) that rotates a 726 axis and propagates the cartridges forward.

[00208] The first empty connector unit 728, seen above, would be connected to the current 702, in order to be pulled and synchronized with the motorized propagation system.

[00209] Reference is now made to Fig. 52, which is

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79/88 is a perspective view showing two cartridges 730 and 732 approaching the ejection unit which is shown here as the fan 734. The axis 736 rotates and propagates the cartridges. Inlet port 738 allows air from the insufflator to enter the cartridge and mosquitoes are inflated outward through the outlet - not visible in this figure - in the direction of expulsion indicated by arrow 740.

[00210] The mechanism, which is similar to those used in ammunition systems, can push or pull the real cartridges, instead of pulling etc., in the connector that connects between the cartridges. Since the cartridges are connected, when forwarding a cartridge to the propagation system, the forwarded cartridge pulls the other connected cartridges behind it.

[00211] The cartridge doors can be opened in sync with the operation of the inflation element, inflating mosquitoes out of the cartridge, when the inflation element is in front of the cartridges.

[00212] Reference is now made to Figs. 53A, 53B and 53C, showing an individual cartridge from three different angles.

[00213] In Fig. 53A, door 750 is closed. The mechanism for the doors is connected to a movable element, which, as shown in Fig. 53B, when standing in front of the supply unit, will:

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1. Open the exit door of the far reach 752 and immediately after:

2. Open the intake port 750 which is the closest door to the blower.

[00214] In order to open the inlet door exactly when the insufflator is in front of the cartridge, the mechanism can actively push the opening mechanism, or the opening mechanism can sense the proximity of the insufflation unit, using any proximity sensor known in the art 754, and then actively open the doors in the sequence mentioned above.

[00215] Fig. 54 shows a side view of a single complete cartridge.

[00216] Fig. 55 illustrates a cartridge that is open on the outlet side 780, but closed on the inlet side 782. Axis 784 connects the ports. When opening element 786 moves, the shaft rotates and opens a door. Opening element 786 can move in response to sensing element 788. Shaft 784 can operate magnet 790 to open and close the door again. The existing side door can be opened with a similar mechanism. Alternatively, the presence of the insufflator, with a corresponding magnet, can act to open the door.

[00217] In Fig. 55, the opening element, which

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81/88 pushes or pushes to open both doors, it is located on one side. An alternative is to have two identical opening mechanisms, one on each side.

[00218] Reference is now made to Fig. 56A, which is a side view of the cartridge when disassembled. The cartridge consists of three main items: the main tube 792 and the two sections of ports 794 and 796 on each side. Such a modular approach can facilitate the maintenance of the tubes. As will be discussed below, such a cartridge can be used to allow adult pupae to emerge directly into the cartridges.

[00219] Reference is now made to Figs. 56C and 56D, which show the cartridges tied together in a top view. Figure 56C is a simplified schematic diagram showing a shelf 798 of the cartridges. Fig. 56D shows the cartridges in the chain passing the blower 734 for emptying.

[00220] Such a belt system facilitates the increase and addition of more cartridges and, therefore, the number of mosquitoes released per operation.

[00221] A belt system can be flexible as to the length of each cartridge. The type of material that can be used in the cartridge is flexible and the tube itself can be made of plastic, aluminum or even cardboard.

[00222] The cartridge belt can then be

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82/88 loaded in a vehicle. Alternatively, a carrier can be used to propagate the cartridges.

[00223] In the present embodiments, the doors can close automatically after leaving the expulsion mechanism and, consequently, any unreleased mosquitoes cannot now escape inside the vehicle, which is a great advantage when dealing with hundreds these release cartridges.

[00224] When reaching the release position, as mentioned above, the two doors are opened, the insufflator can blow mosquitoes out and a preferred air speed is 8-12 m / s for a 40 mm cartridge diameter and a preferred number of 1,000 - 2,000 mosquitoes for an 80 to 100 cm long cartridge.

[00225] At the end of the release process, all cartridges will have passed through the release position and will therefore be empty of mosquitoes. The last cartridge may still be in the release position, or the entire chain may have been moved forward or backward, allowing a new cartridge belt to be loaded.

[00226] In the additional embodiment, the cartridges can be released from the clips as soon as they pass the release position, simply falling into the second box or any other suitable collection mechanism.

[00227] In an additional embodiment, also

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83/88 using a cartridge belt, it is possible to move the insufflation element along the cartridges and blow the mosquitoes inside them one after the other.

[00228] Reference is now made to Fig. 57, which is a schematic diagram illustrating the full cartridges arranged as a strap in the first case 706, passing the release mechanism 710 and entering the second case 708. In one embodiment, box 706 is cooled to 8 10 degrees Celsius, so that the insect's movement is reduced. At the point of release, the temperature is increased. In the embodiment shown in Fig. 58, the release occurs in a separate compartment 800 to maintain air

hot away from the box 706. [00229] Now Is made reference to Figures 59 to 63, that show like the system Can be mounted on parts open rear or vehicles are closed. In Fig. 59, the

system 810 is mounted on one side of the open rear of the vehicle 812 with the release direction oriented to the vehicle side. The cartridges are fed from one side 814 to the other side 816 through the release mechanism 818. Fig. 60 shows the equivalent assembly at the rear of a closed vehicle 820. Here, the release mechanism is placed against a window 822 that can be opened. Figures 61 and 62 show two different perspective views of an open vehicle from the back having

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84/88 two 810 systems mounted back to back.

[00230] Figure 63 shows the vehicle closed on the opposite side.

[00231] In either case, the placement of the cartridges can be transverse at the rear of a vehicle or truck. The back-to-back case allows insects to be sprayed on either side of the truck.

[00232] Reference is now made to Figs. 64 and 65, which illustrate a variation of the above embodiments in which, instead of the cartridges moving, the expulsion units 710 move on rails 900. The rails move along the line of cartridges and are lowered to reach the next line.

[00233] Reference is now made to Figs. 66 to 69, which illustrate an opening mechanism for the embodiment of Fig. 52. The embodiment does not sense the cartridge in front of the inflator 710. The embodiment can use an encoder to count the rotation of the wheel by pulling the cartridges or the mechanism pulling the blower. When a position is reached so that the cartridge is in front of the insufflator, the door can be opened.

[00234] As shown in Figs. 66 to 69, a ring 920 is located in front of the insufflator 710 and operates the spring 922 on the cartridge that opens the door. A second 924 ring can

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85/88 be provided at the far end of the cartridge, so as to also open the far door. In embodiments, the distant door is opened first. The insufflator can be located on an alternative support 928 to move it back and forth to engage the two rings 924 and 922. That is, the insufflator 710 and ring 920 move together, the ring being connected to the same structure as the insufflator. The other ring 924 on the other side can be connected to the same structure or it can have an actuator to move it back and forth. A reciprocating movement of the insufflator in and out of the cartridge can thus move one or both rings to operate the springs in the correct sequence and open the cartridge doors.

[00235] Funnel 926 can direct air flow from insufflator 710 into the cartridge.

[00236] Reference is now made to Figs. 70 to 73, which show different views of the use of the cartridges in a way that they are filled directly from the pupae trays. The pupae trays 910 are filled with liquid and pupae and the cartridges are close to the trays. When the cartridge lines up on a tray, the lower facing door 912 is opened. Now, mosquitoes emerging from the pupae tray can appear directly on the cartridge, as the opposite door is closed. Thus,

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86/88 many cartridges can be loaded at once.

[00237] Within 24 to 48 hours, the cartridges are removed, and the bottom door is closed. The entire cartridge is dried, and the adult mosquitoes are ready to be released inside.

[00238] It is expected that during the useful life of a patent that develops from this application, many relevant dispersion technologies and robotic technologies will be developed and that the scopes of the corresponding terms are intended to include all these new technologies a priori.

[00239] The terms comprise, comprising, include, including, having and their conjugates mean including, but not limited to.

[00240] The term consisting of means including and limited to.

[00241] As used here, the singular form one, one and the e includes plural references unless the context clearly dictates otherwise.

[00242] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments, can also be provided in combination in a single embodiment. Conversely, several features of the invention, which are briefly described in the context of

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87/88 a single embodiment, may also be provided separately or in any suitable subcombination or as suitable in any further described embodiment of the invention. Certain characteristics described in the context of various embodiments should not be considered essential characteristics of those embodiments, unless the embodiment is inoperative without these elements.

[00243] Although the invention has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be evident to those skilled in the art. Therefore, it is intended to cover all of these alternatives, modifications and variations that fit the spirit and the broad scope of the attached claims.

[00244] All publications, patents and patent applications mentioned in this specification are incorporated herein in their entirety by reference in the specification, to the same extent as if each individual publication, patent or patent application was specifically and individually indicated for. be incorporated herein by reference. In addition, the citation or identification of any reference in this application should not be construed as an admission that such reference is available as a prior art to the present invention.

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As section headings are used, they should not be construed as necessarily limiting.

Claims (45)

1. Apparatus for automatic loading of pupae in cartridges for growth, hatching in adults and dispersion of adults, characterized by comprising: a source of pupae in liquid; a cartridge for the hatching of said pupae in adults and placement in a dispersion machine for the dispersion of said adults, said cartridge having at least one drainage hole covered in mesh at a lower end; and a water tray; and in which said cartridge is configured to support a liquid phase for said pupae, in which said cartridge, when filled with pupae, can be placed in said water tray to retain water in said cartridge and in which, after hatching of said pupae, said cartridge can be drained by means of said at least one drainage hole to provide a dry environment for said adults. Apparatus according to claim 1, characterized in that it further comprises a suction tube connected to said source of pupae to suck pupae from said source to fill said cartridge, or comprising a suction tube connected to a robot arm for direct the said suction tube towards the Petition 870190067748, of 7/17/2019, p. 57/74 2/15 said pupae, or comprising a spoon configured to catch said pupae from said pupae source. Apparatus according to claim 2, characterized in that it additionally comprises a measuring cup configured to collect the pupae of said suction tube, so as to fill a measured dose of said pupae in said cartridge. Apparatus according to claim 3, characterized in that said measuring cup comprises a sensor for detecting when said cup is full. 5. Apparatus according to claim 4, characterized in that said sensor is a member of the group consisting of: a weight detector, a proximity detector, an ultrasonic sensor, a capacitive sensor and a camera. Apparatus according to claim 2, characterized in that said suction tube comprises a member of the group consisting of a pump without a propeller, a Venturi pump, a pipette and a piston. Apparatus according to any one of claims 1 to 6, characterized in that said cartridge comprises upper doors, said upper doors comprising a latch mechanism of the upper door for operation of the robot. 8. Apparatus according to claim 7, Petition 870190067748, of 7/17/2019, p. 58/74 3/15 characterized in that said cartridge additionally comprises lower doors facing said upper doors, said lower doors comprising a lower door latch mechanism for robot operation. Apparatus according to any one of claims 1 to 8, characterized in that said cartridge comprises at least one feeding hole, said feeding hole containing a liquid-absorbing material for holding sugar water. Apparatus according to any one of claims 1 to 9, characterized in that said pupal source comprises water holding said pupae and an airflow mechanism configured to blow through said water to concentrate said pupae for collection. Apparatus according to any one of claims 1 to 9, characterized in that said pupal source comprises water holding said pupae and a network configured to move through said water to concentrate said pupae on one side of said source of pupa pupa for collection. Apparatus according to any one of claims 1 to 11, characterized in that it comprises a cartridge ejection mechanism, said ejection mechanism Petition 870190067748, of 7/17/2019, p. 59/74 4/15 ejection of the cartridge comprising a funnel, an air pressure source and an outlet, the ejection mechanism configured to open doors of a cartridge at two opposite ends and provide an air pressure wave to expel insects from within the said cartridge through said outlet for dispersion. Apparatus according to any one of claims 1 to 12, characterized in that it comprises a plurality of cartridges placed together in a storage, and a pupa filling robot configured to direct the pupa from said pupa source to the successive ones of said cartridges, in order to fill all the cartridges of that storage with pupae. Apparatus according to claim 13, characterized in that it further comprises a closing robot configured with a door contact and a latch contact, for closing and locking upper doors of said cartridges after said filling of said storage. Apparatus according to claim 13 or 14, characterized in that it further comprises a feeding robot, said feeding robot comprising a liquid dispenser for dispensing sugar water to said cartridges, said feeding robot configured to direct the referred Petition 870190067748, of 7/17/2019, p. 60/74 5/15 liquid dispenser for the feeding holes in the successive cartridges of said storage to dispense sugar water for each cartridge. Apparatus according to any one of claims 13 to 15, characterized in that it additionally comprises a storage expulsion mechanism, the storage expulsion mechanism comprising a funnel, an air pressure source and an outlet, the expulsion mechanism configured to open doors of successive cartridges from said storage at two opposite ends and provide a wave of air pressure to expel insects from within the said cartridge through said outlet for dispersion. Apparatus according to claim 16, characterized in that said storage expulsion mechanism is slidably mounted to the controllable path over a height of said storage to reach the respective of said successive cartridges. Apparatus according to claim 16, characterized in that said storage ejection mechanism is at a fixed height and said storage is mounted for the controllable path to present the respective of the successive cartridges to said ejection mechanism of the Petition 870190067748, of 7/17/2019, p. 61/74 6/15 storage. Apparatus according to any one of claims 1 to 18, characterized in that said cartridge comprises a plurality of round cells. Apparatus according to any one of claims 1 to 19, characterized in that it further comprises a suction tube, a sensor and a capture robot, said sensor configured to detect pupae or clusters of pupae in said pupa source, and said robot being configured to align said suction tube with said detected pupae or agglomerates, and said suction tube applying suction when aligned, so as to capture pupae from said source to place in a respective cartridge. 21. Apparatus for removing adult insects or pupae from a source to be placed in a cartridge, the apparatus characterized by comprising: a suction tube; a pump without propeller associated with said suction tube to apply suction along said suction tube. 22. Apparatus according to claim 21, characterized in that said pump without propeller is a member of the group consisting of a Venturi pump, a Petition 870190067748, of 7/17/2019, p. 62/74 7/15 pipette and a piston. 23. Apparatus according to claim 21 or 22, characterized in that it further comprises a sensor for detecting locations of insects or pupae, and a robot arm attached to a first end of said suction tube to direct said suction tube to those detected locations. 24. Apparatus for loading and then expelling insects, characterized by comprising: a row of cartridges stacked on top of each other on a second axis perpendicular to said first axis, the cartridges being full of insects; an expulsion unit, configured to expel insects from said cartridges placed in said expulsion unit; and a transport unit configured to transport said cartridges of said row on a third axis, said third axis being perpendicular to both said first and second axes. Apparatus according to claim 24, characterized in that said row is a plurality of rows, and said transport unit is a conveyor, each said row having a respective conveyor, the apparatus further comprising a Petition 870190067748, of 7/17/2019, p. 63/74 8/15 transfer unit configured to transport cartridges between said rows and from a row further to said expulsion unit. 26. Apparatus according to claim 25, characterized in that said transfer unit is configured to move said cartridges between the conveyors and from said conveyors to said expulsion unit. 27. Apparatus, in wake up with any an of claims 24 to 26, characterized by referred cartridges understand doors higher and doors opposite bottoms at referred to upper doors, at referred ports higher and inferior being able to be opened by the aforementioned expulsion. 28. Apparatus, in wake up with any an of claims 24 to 27, characterized in that said ejection mechanism comprises a funnel, an air pressure source and an outlet, the ejection mechanism configured to open doors of successive cartridges of said storage (what is said storage if the storage is eliminated?) at two opposite ends and provide an air pressure wave to expel insects from said cartridge through said outlet for dispersion. 29. Apparatus for filling a cartridge with insects Petition 870190067748, of 7/17/2019, p. 64/74 9/15 adults from an insect source, the apparatus characterized by comprising: an air pressure source; one mechanism aiming configured for aim at referred source of pressure of air for one or more insects adults; and one mechanism collection configured for collect insects that collide with the collection mechanism by the source of air pressure. Apparatus according to claim 29, characterized in that said source of air pressure is configured to provide a directional air blade in motion. 31. Appliance, according The claim 30, characterized by the a camera. said mechanism aim to understand 32. Appliance, according The claim 29, characterized by the said source in air pressure be a collection suction source. provided through of said mechanism 33. Apparatus, according to 1 any of claims 29 to 32, characterized in that it further comprises a counting device for counting the numbers of said adult insects that pass through said collection device, to supply Petition 870190067748, of 7/17/2019, p. 65/74 10/15 cartridges with a predetermined number of insects. 34. Apparatus according to claim 33, characterized in that said counting device is based on a sensor, said sensor being a member of the group consisting of one or more capacitive sensors and one or more cameras. 35. Apparatus according to any one of claims 29 to 34, characterized in that it further comprises a plurality of cartridges for collecting said insects, and a steering arm configured to move a member of the group consisting of an outlet end of said device between said cartridges, and an inlet end of said collection device. 36. Cartridge for keeping adult insects, the cartridge characterized by comprising doors that can open at a first end and at a second end opposite to said first end, and at least one feeding opening, the feeding opening containing a liquid-absorbing material maintained within said feed opening. 37. Cartridge according to claim 36, characterized in that it further comprises a first layer of mesh within said layer of liquid absorbent material. Petition 870190067748, of 7/17/2019, p. 66/74 11/15 38. Cartridge according to claim 37, characterized in that said liquid absorbent layer is located between said first layer of mesh and another layer of mesh. 39. Apparatus for automatic loading of pupae in cartridges for growth, hatching in adults and dispersion of adults, characterized by comprising: a source of pupae; one or more cartridges for the hatching of said pupae in adults and placement in a dispersion machine for dispersing said adults; and a collection mechanism for collecting said pupae from a predetermined part of said source and dispensing the pupae collected for said one or more cartridges; and a catching mechanism configured to catch said pupae in said predetermined part for said collection. 40. Apparatus according to claim 39, characterized in that said picking mechanism comprises an air pressure source for blowing through said pupal source to concentrate said pupae in said predetermined part for collection. 41. Apparatus according to claim 39, characterized in that said catching mechanism Petition 870190067748, of 7/17/2019, p. 67/74 12/15 comprises a network configured to move through said source to concentrate said pupae in said predetermined part for collection. 42. Apparatus for loading and then expelling insects, characterized by comprising: a first row of stores extending on one axis, each store comprising a plurality of cartridges stacked on top of each other on a second axis perpendicular to said first axis, the cartridges full of insects; an ejection unit, configured to eject cartridge insects from a storage placed in said ejection unit; and a first transport element, configured to transport said storage cartridges from said row to said expulsion unit. Apparatus according to claim 42, characterized in that said transport element is a conveyor belt, said conveyor belt extending on a third axis, said third axis being perpendicular to both said first and second axes. 44. Apparatus according to claim 42 or 43, characterized in that it comprises at least one additional row of stores and a conveyor belt Petition 870190067748, of 7/17/2019, p. 68/74 13/15 associated with said at least one additional row, said conveyor belt configured to carry cartridges from said at least one additional row to said first conveyor. 45. Method for automatic loading of pupae in cartridges for growth, hatching in adults and dispersion of adults, characterized by comprising: obtain pupae in the water; collect said pupae; measure the collected pupae; placing a measured number of said pupae in water in a cartridge; automatically feeding said insects using a robot arm to insert liquid feed into a liquid-absorbing substance in a feed hole of said cartridge; wait until the pupae have hatched into adult insects; draining said cartridge by raising said cartridge and allowing it to drain through a drain hole; and opening both ends of said cartridge and applying an air pressure source to expel said adult insects from said cartridge. 46. The method of claim 45, Petition 870190067748, of 7/17/2019, p. 69/74 14/15 characterized by comprising performing said drainage at a temperature below 10 degrees Celsius or below 9 degrees Celsius or below 6 degrees Celsius. 47. Method according to either of Claims 45 and 46, characterized in that it comprises providing said cartridges as a storage of multiple cartridges and placing said stores in one or more rows with an ejection unit; transport the cartridges to the expulsion unit; open the cartridges at the first and second opposite ends; and providing air pressure to expel said adult insects from the cartridges. 48. Method according to any one of claims 45 to 47, characterized in that said automatic feeding is repeated at least once. 49. Apparatus for filling a cartridge with adult insects from an insect source, the apparatus characterized by comprising: an air pressure source, configured to knock down insects; a collection mechanism configured to collect insects being dropped; and a robot arm configured to move the said Petition 870190067748, of 7/17/2019, p. 70/74 15/15 collection mechanism to capture the said insects being dropped. 50. Method for filling cartridges with adult insects, characterized by comprising: provide pupae in water; close the first ends of the cartridges on said pupae; allow pupae to emerge as adults in the cartridges; closing doors at said first cartridge ends; and removing the cartridges with said adults in them.